function params = quadModel_readonly()
    m = 0.5;
    g = 9.81;
    I = [2.32e-3,0,0;0,2.32e-3,0;0,0,4e-3];
    params.mass = m;
    params.I = I;
    params.invI = inv(I);
    params.grav = g;
    
    params.maxangle = 40*pi/180; %you can specify the maximum commanded angle here
    params.maxF = 2.5*m*g;
    params.minF = 0.05*m*g;
    
    
    %armlength is the distance from the center of the craft to the prop center
    params.kforce = 6.11e-8; %in Newton/rpm^2
    params.kmoment = 1.5e-9; %in Newton*meter/rpm^2
    params.armlength = 0.175; %in meters
    
    params.FM_omega2 = [params.kforce,params.kforce,params.kforce,params.kforce;...
        0,params.armlength*params.kforce,0,-params.armlength*params.kforce;...
        -params.armlength*params.kforce,0,params.armlength*params.kforce,0;...
        params.kmoment,-params.kmoment,params.kmoment,-params.kmoment];
    
    params.omega2_FM = inv(params.FM_omega2);
    
    params.maxomega = sqrt(params.maxF/(4*params.kforce));
    params.minomega = sqrt(params.minF/(4*params.kforce));
end
